The most basic technique is simply to grip your penis in your stronger hand with your fingers underneath and thumb on top. You then move your hand up and down the shaft, not too hard and not too fast. With some experimentation you should be able to find just the right pressure, finger position and speed to stimulate you. This is probably the oldest and most satisfying hands-only masturbation technique. The speed and pressure you can apply brings about a satisfying orgasm.

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